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dc.contributor.author | Díaz-Rodríguez, Miguel![]() |
es_ES |
dc.contributor.author | Valera Fernández, Ángel![]() |
es_ES |
dc.contributor.author | Mata Amela, Vicente![]() |
es_ES |
dc.contributor.author | Vallés Miquel, Marina![]() |
es_ES |
dc.date.accessioned | 2014-07-08T11:14:59Z | |
dc.date.issued | 2013-12 | |
dc.identifier.issn | 1083-4435 | |
dc.identifier.uri | http://hdl.handle.net/10251/38665 | |
dc.description.abstract | This paper presents in detail how to model, identify, and control a 3-DOF prismatics-revolute-spherical parallel manipulator in terms of relevant parameters. A reduced model based on a set of relevant parameters is obtained following a novel approach that considers a simplified dynamic model with a physically feasible set of parameters. The proposed control system is compared with the response of a model-based control that considers the complete identification of the rigid-body dynamic parameters, friction at joints, and the inertia of the actuators. The control systems are implemented on a virtual and an actual prototype. The results show that the control scheme based on the reduced model improves the trajectory tracking precision when comparing with the control scheme based on the complete set of dynamic parameters. Moreover, the reduced model shows a significant reduction in the computational burden, allowing real-time control. | es_ES |
dc.description.sponsorship | This work was supported in part by the Spanish Government under Grant DPI2010-20814-C02-01 (IDEMOV) and in part by the Consejo de Desarrollo Cientifico, Humanistico y Tecnologico de la Universidad de Los Andes (CDCHT-ULA) under Grant I-1286-11-02-B. | en_EN |
dc.format.extent | 8 | es_ES |
dc.language | Inglés | es_ES |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | es_ES |
dc.relation.ispartof | IEEE/ASME Transactions on Mechatronics | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Dynamic parameter identification | es_ES |
dc.subject | Model-based control | es_ES |
dc.subject | Parallel robots | es_ES |
dc.subject | Robot control | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.subject.classification | INGENIERIA MECANICA | es_ES |
dc.title | Model-based control of a 3-DOF parallel robot based on identified relevant parameters | es_ES |
dc.type | Artículo | es_ES |
dc.embargo.lift | 10000-01-01 | |
dc.embargo.terms | forever | es_ES |
dc.identifier.doi | 10.1109/TMECH.2012.2212716 | |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2010-20814-C02-01/ES/IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION A LA IDENTIFICACION EN TIEMPO REAL./ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/ULA//I-1286-11-02-B/ | es_ES |
dc.rights.accessRights | Cerrado | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Centro de Investigación en Tecnología de Vehículos - Centre d'Investigació en Tecnologia de Vehicles | es_ES |
dc.description.bibliographicCitation | Díaz-Rodríguez, M.; Valera Fernández, Á.; Mata Amela, V.; Vallés Miquel, M. (2013). Model-based control of a 3-DOF parallel robot based on identified relevant parameters. IEEE/ASME Transactions on Mechatronics. 18(6):1737-1744. https://doi.org/10.1109/TMECH.2012.2212716 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6287595 | es_ES |
dc.description.upvformatpinicio | 1737 | es_ES |
dc.description.upvformatpfin | 1744 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 18 | es_ES |
dc.description.issue | 6 | es_ES |
dc.relation.senia | 251568 | |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |
dc.contributor.funder | Universidad de los Andes, Venezuela | es_ES |